   hierarchy/HighLevelAction (immediate-refinements- [s]
                              (let [base (env/get-var s [:base])
                                    opos (env/get-var s [:pos o])]
-                               (for [[dirname dir] dirs]
-                                 (let [gpos (sub-pos opos dir)
-                                       go   (sub-pos gpos base)]
-                                   [(make-reach-hla env go)
-                                    (make-pickup dirname base go o opos)]))))
+                               (for [[dirname dir] dirs
+                                     :let [gpos (sub-pos opos dir)
+                                           go   (sub-pos gpos base)
+                                           a    (make-reach-hla env go)]
+                                     :when a]
+                                 [a (make-pickup dirname base go o opos)])))
                             (cycle-level- [s] nil)))
 ;manhattan
 ;pess: SLD?  

                              (let [remaining (remove #(env/get-var s [:at-goal? %])
                                               (map first (get (env/get-var s :const) [:objects])))]
                                (if (empty? remaining)
                                    [[]]
                                  (for [o remaining] [(make-move-to-goal-hla env o) this]))))
                            (cycle-level- [s] 2))))


                              (conj (reach-context s) [:holding]))
  hierarchy/HighLevelAction (immediate-refinements- [s]
                             (let [base (env/get-var s [:base])]
                               (for [[dirname dir] dirs
                                     :let [gpos (sub-pos dst dir)
                                           go   (sub-pos gpos base)
                                           a    (make-reach-hla env go)]
                                     :when a]
                                 [a (make-putdown dirname base go o dst)])))
                            (cycle-level- [s] nil)))
;manhattan
;pess: SLD?  
